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vtol_att_control: merge methods to disable a selection of motors

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- moved methods used to modify channel maximum pwm value to VtolType
class so that the can be shared by the differnt vtol types

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-04-12 09:19:47 +02:00
committed by Roman Bapst
parent 00f98c64db
commit 744f806214
11 changed files with 236 additions and 204 deletions
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src/modules/vtol_att_control/standard.cpp
+7 -10
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@@ -135,7 +135,6 @@ void Standard::update_vtol_state()
if (_vtol_vehicle_status->vtol_transition_failsafe == true) {
// Failsafe event, engage mc motors immediately
_vtol_schedule.flight_mode = MC_MODE;
_flag_enable_mc_motors = true;
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;
@@ -143,7 +142,6 @@ void Standard::update_vtol_state()
} else {
// Regular backtransition
_vtol_schedule.flight_mode = TRANSITION_TO_MC;
_flag_enable_mc_motors = true;
_vtol_schedule.transition_start = hrt_absolute_time();
_reverse_output = _params_standard.reverse_output;
@@ -194,8 +192,7 @@ void Standard::update_vtol_state()
can_transition_on_ground()) {
_vtol_schedule.flight_mode = FW_MODE;
// we can turn off the multirotor motors now
_flag_enable_mc_motors = false;
// don't set pusher throttle here as it's being ramped up elsewhere
_trans_finished_ts = hrt_absolute_time();
}
@@ -300,8 +297,8 @@ void Standard::update_transition_state()
}
// in back transition we need to start the MC motors again
if (_flag_enable_mc_motors) {
_flag_enable_mc_motors = !enable_mc_motors();
if (_motor_state != ENABLED) {
_motor_state = set_motor_state(_motor_state, ENABLED);
}
}
@@ -318,8 +315,8 @@ void Standard::update_mc_state()
VtolType::update_mc_state();
// enable MC motors here in case we transitioned directly to MC mode
if (_flag_enable_mc_motors) {
_flag_enable_mc_motors = !enable_mc_motors();
if (_motor_state != ENABLED) {
_motor_state = set_motor_state(_motor_state, ENABLED);
}
// if the thrust scale param is zero or the drone is on manual mode,
@@ -399,8 +396,8 @@ void Standard::update_fw_state()
VtolType::update_fw_state();
// stop MC motors in FW mode
if (!_flag_enable_mc_motors) {
_flag_enable_mc_motors = disable_mc_motors();
if (_motor_state != DISABLED) {
_motor_state = VtolType::set_motor_state(_motor_state, DISABLED);
}
}